MCG 3130 Dynamics of Machinery

Mid-term Examination November 3, 2010 Time allowed: 1 hour 40 minutes

Total Points: 50

Closed book/Notes. Calculators permitted. Attempt BOTH questions. The two questions are of
equal value. Return the question paper with the answer booklet. Interpretation of the question
as the part the examination. If you consider the additional data is required, make an appropriate
engineering assumption and proceed.

1. For the mechanism shown in the Figure below, link 2 is the driving link with displacement
angle of q and an angular velocity of q.(q-dot). At the instant of consideration q = 600, and the
links 3,4 and 5 make angles with the positive horizontal of 170 , 900 and 3150.

a) If at this instant, the velocity VC of the slider is -10 i cm/sec, what is the necessary angular
velocity q. of the link 2.
b) If q. is constant at this instant ( at the value calculated in part (a)), what is the acceleration aC
of the slider.

O2 O4 = 5 cm, O2 A=2.0 cm, AB = 4.2 cm, O4 B =3.0 cm, BC = 4.2 cm

2. In the Spatial RSSC linkage of Figure below, the connecting rod BC is attached by ball and
socket (spherical) joints to the driving link AB and the slider C. The crank makes an angle of
with the positive z direction, and is rotating at the constant angular speed about the positive
y direction. The lengths of the crank AB and the connecting rod BC are and The distance from
the slider C to the origin of the fixed axes Oxyz is . The circle representing the motion of the crank
pin B is tangent to the fixed axes x and z.

a) Determine the mobility of the mechanism and identify the degree of freedom.

b) Develop, but do not solve, the scalar equations to find the value of for a specified value
of .

c) Set up, but do not solve, the four scalar equations necessary to determine the three
components of angular velocity of the connecting rod BC and the speed (dot) of the
slider C.
d) A point P (not shown) is translating down the connecting rod from C to B at a constant
speed of c. Give the vector expression of the velocity Vp of P, when P is at a distance
from C. Assume point P is at C at the instant when = 00.